Robot Motion Planning - 24700

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Robot Motion Planning - 24700 Image-based
controller For line following Research George
Kantor Presentation Sarjoun Skaff Carnegie
Mellon University Wednesday 12 March 2003
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Image-based line followingProblem Description
Pose-Based

• Image-based?
• Control is performed in image coordinates (u,v)
• not in workspace coordinates (x,y,?)
• Avoids mapping into workspace
• Line Following?
• Capability that confers some autonomy to robots
• e.g. RHex navigates without user input
• Building block for more complex maneuvers
• e.g. trajectory following

?
v
u
Image-Based
v
u
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Line Following
Line Detection
Unicycle Kinematics
y
projection of image plane
u1
x
u2
line to follow
unicycle kynematics
dynamics in vision coordinates
vision coordinates
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Image Representation
D
?2
level sets of V(w)
?1
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Line Following Controller
Controller u(?) -k1 ?2 - k2 L ?1
control v.f.
w-space boundary
drift v.f.
switching curves
smoothing sections
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Experiments
Walking Speed
Jogging Speed
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Appendix Sagital Plane